2. In a small saucepan, heat the remaining 1 1/4 cups milk with Splenda® over medium-high heat, stirring frequently. When mixture is boiling, pour into bowl with milk and gelatin and stir until gelatin is completely dissolved.

3. Stir yogurt into gelatin mixture. Whisk in peppermint extract and enough green food coloring to reach desired color. (Note from Delish: A few drops go a long way.)

4. Freeze in an ice cream machine according to manufacturer's instructions. Toward the end of freezing time, add chocolate. Serve immediately or freeze to desired consistency.